8 citations · 21 across the 10 of their papers we have counts for
10 papers
RAM: Reachability Across Morphologies
Tim Walter, Xinyu Chen, Jonathan Külz +1
Many stages of the robotic lifecycle, from morphology synthesis to operation, rely fundamentally on the reachable workspace. However, current methods for approximating workspaces a…
A Design Co-Pilot for Task-Tailored Manipulators
Jonathan Külz, Sehoon Ha, Matthias Althoff
Although robotic manipulators are used in an ever-growing range of applications, robot manufacturers typically follow a ``one-fits-all'' philosophy, employing identical manipulator…
Leveraging Analytic Gradients in Provably Safe Reinforcement Learning
Tim Walter, Hannah Markgraf, Jonathan Külz +1
The deployment of autonomous robots in safety-critical applications requires safety guarantees. Provably safe reinforcement learning is an active field of research that aims to pro…
Holistic Construction Automation with Modular Robots: From High-Level Task Specification to Execution
Jonathan Külz, Michael Terzer, Marco Magri +2
In situ robotic automation in construction is challenging due to constantly changing environments, a shortage of robotic experts, and a lack of standardized frameworks bridging rob…
Automatic Geometric Decomposition for Analytical Inverse Kinematics
Daniel Ostermeier, Jonathan Külz, Matthias Althoff
Calculating the inverse kinematics (IK) is a fundamental challenge in robotics. Compared to numerical or learning-based approaches, analytical IK provides higher efficiency and acc…
Reachset-Conformant System Identification
Laura Lützow, Matthias Althoff
Formal verification techniques play a pivotal role in ensuring the safety of complex cyber-physical systems. To transfer model-based verification results to the real world, we requ…
Backward Reachability Analysis of Perturbed Continuous-Time Linear Systems Using Set Propagation
Mark Wetzlinger, Matthias Althoff
Backward reachability analysis computes the set of states that reach a target set under the competing influence of control input and disturbances. Depending on their interplay, the…
Human-Robot Gym: Benchmarking Reinforcement Learning in Human-Robot Collaboration
Jakob Thumm, Felix Trost, Matthias Althoff
Deep reinforcement learning (RL) has shown promising results in robot motion planning with first attempts in human-robot collaboration (HRC). However, a fair comparison of RL appro…
Reachability Analysis of ARMAX Models
Laura Lützow, Matthias Althoff
Reachability analysis is a powerful tool for computing the set of states or outputs reachable for a system. While previous work has focused on systems described by state-space mode…
Optimizing Modular Robot Composition: A Lexicographic Genetic Algorithm Approach
Jonathan Külz, Matthias Althoff
Industrial robots are designed as general-purpose hardware with limited ability to adapt to changing task requirements or environments. Modular robots, on the other hand, offer fle…